EP2153009B1 - Method and apparatus for establishing a manual governor control setting in an electro-hydraulic system - Google Patents

Method and apparatus for establishing a manual governor control setting in an electro-hydraulic system Download PDF

Info

Publication number
EP2153009B1
EP2153009B1 EP08754183A EP08754183A EP2153009B1 EP 2153009 B1 EP2153009 B1 EP 2153009B1 EP 08754183 A EP08754183 A EP 08754183A EP 08754183 A EP08754183 A EP 08754183A EP 2153009 B1 EP2153009 B1 EP 2153009B1
Authority
EP
European Patent Office
Prior art keywords
output
pump
control
input
range
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP08754183A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2153009A1 (en
Inventor
Robin W. c/o Vermeer Manufacturing Company CARLSON
Philip R. c/o Vermeer Manufacturing Company LANE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vermeer Manufacturing Co
Original Assignee
Vermeer Manufacturing Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vermeer Manufacturing Co filed Critical Vermeer Manufacturing Co
Publication of EP2153009A1 publication Critical patent/EP2153009A1/en
Application granted granted Critical
Publication of EP2153009B1 publication Critical patent/EP2153009B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/046—Directional drilling horizontal drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions

Definitions

  • the present invention relates generally to underground boring machines and methods for controlling underground boring. More particularly, the present invention relates to underground boring machines for use in horizontal directional drilling and to an improved method of, and apparatus for, establishing a full range of movement of an operator input control device to a reduced output setting and a manual governor control setting.
  • a typical horizontal directional drilling machine includes a frame on which is mounted a rotational drive mechanism.
  • the rotational drive mechanism can be slidably moved along the longitudinal axis of the frame, to rotate a drill string about its longitudinal axis while sliding along the frame to advance the drill sting into, or withdraw it from, the ground.
  • the drill string comprises one or more drill rods attached together in a string.
  • a boring tool is installed onto the advancing end of the drill string (i.e., the end furthest away from the HDD machine). More specifically, a drill bit is used when the drill string is being advanced into the ground. On the other hand, a back reamer is used to enlarge a bored hole and is used when the drill string is being withdrawn after a hole is cut.
  • Boring tools may include a wide variety of soil cutting devices tailored for specific formations. Examples include cutting edges that shear the soil and compression elements that concentrate longitudinal force from the drill string into a concentrated area to fracture the ground when boring in rock conditions.
  • the boring machines include controls that allow the operator to control both the rotational movement and the longitudinal movement, also referred to as thrust.
  • the optimum setting of rotational movement and thrust movement depends on various factors such as the soil conditions, the formation, and the type of boring tool.
  • the boring process generally requires maintaining consistent thrust pressures and at a low thrust speed control.
  • the thrust pressure is proportional to thrust force, and the rotation pressure is proportional to rotational torque.
  • the thrust and rotations pressures are directly related to the thrust speed. If the thrust pressure is excessive, the soil cutting device will penetrate into the formation resulting in excessive rotational pressures. Often times rotational stall is associated with high thrust speeds thereby advancing the soil cutting device into the formation too rapidly, or too high of a thrust pressure. Should the soil cutting device become rotationally stalled, high loads can be induced which may damage the boring tool and drill string and reduce the overall drilling performance.
  • the rotation and thrust pressures must be reduced to zero.
  • the soil cutting device needs to be moved a short distance away from the obstacle within the formation.
  • the operator using the input rotation control re-starts the process.
  • the thrust pressure is increased (thrust speed) to re-position the soil cutting device at the face of the formation to be drilled. This thrust pressure is often less than the thrust pressure causing the initial rotational stall condition.
  • the magnitude of the rotational movement and thrust movements are proportional to the position of the input controls. That is, 100% input of a control function, such as thrust or rotation joystick, will result in 100% control output to the thrust or rotation functions.
  • a control function such as thrust or rotation joystick
  • the present invention includes a convenient method for allowing the operator to change the proportional relationship between an input control function and an output control device, as the drill string is axially moved, either in a thrust or pullback direction. For example, an input control signal of 100% may be desired while the output signal may be 25%. By doing so, the operator has more control of the function, while not limited to controlling the drilling system at/or near the dead-band level of the control system.
  • the present invention includes a controller for receiving input signals including rotation and thrust setting signals, automatic boring mode signals, and automatic boring mode cancel signals from the controls, for generating rotational motion and thrusting motion control signals in response to the input signals, and for communicating said motion control signals to operatively control said hydraulic system and input-to-input proportional control.
  • the apparatus includes a hydraulic system for imparting rotational motion at a controllable speed of rotation or to generate a controllable level of torque, in response to the position of a first control, and thrusting motion at a controllable speed or to generate a controllable level of axial thrust, in response to the position of a second control, to a boring tool.
  • the apparatus also includes a third control for generating a rotation setting signal and a thrust setting signal in response to the position of the controls, a fourth operator actuated control that generates a signal for incrementing and decrementing a rotational motion setting, and a fifth operator actuated control that generates a signal for incrementing and decrementing an axial thrust setting.
  • the apparatus also includes a controller for receiving input signals from the first, second, third, fourth, and fifth operator actuated controls, for generating rotational motion and axial thrust control signals in response to the input signals, and for communicating said motion control signals to operatively control said hydraulic system.
  • the linear relationship exists between the output and the input is approximately 1:1. That is, the same percentage of the input control signal will result in the same percentage for the output signal from the controller to the output device. For example, a 50% input control signal will result in a 50% output signal.
  • the input control device on an HDD machine is a joystick that provides a signal to the controller to indicate the direction of the axial movement of the drill string.
  • the electronic controller outputs a signal to the output device, which is normally a hydraulic pump, or other device, capable of responding to this signal.
  • the hydraulic pump is equipped with electronic displacement control. That is, the pump's flow output is proportional to the magnitude of output signal.
  • the present invention in a manual mode of operation, may require the operator to manually input, via positioning the joystick at the appropriate position, the desired rate of speed and/or pressure for the thrust and rotations functions.
  • a switch positioned proximate the operator is utilized to enable the operator to determine the desired level of proportional constant relationship between the thrust input signal and the output signals. For example, an operator could change the proportional constant, to a value of 10 with a resulting corresponding maximum value for the output device of 10% when and an input signal of 100% is applied. Continuing with this example, should the present proportional relationship be maintained, and the input set to say 50%, then the corresponding output would now be equivalent to 5%.
  • the present invention allows for normal manual drill operation, but should abnormal drilling conditions be encountered, where slower than normal thrust speeds are required, the proportional relationship can be easily changed by a toggle switch.
  • Another aspect of the present invention is that once a new proportional relationship is set, the manual drilling mode can be changed to an auto drilling mode without stopping the present drilling activity. Auto drill mode allows a set of rotation and thrust speeds and/or pressures parameters to be reached and the control system will then automatically try to maintain these pressure/speed settings within the capability of the control system. Because of the enhanced control provided by the proportional relationship constant to the operator, once actual drilling begins in a non-homogenous, or other formation, and rotation and thrust pressures stabilize, the operator may use the same switch, used to set the proportional constant, to set the auto drill mode. However, other switches may be used for this function.
  • proportional constant can quickly be restored to 100% simply by placing both the thrust and rotation handles in their neutral positions, then press the switch.
  • Another aspect of the present invention is that if the set value for the proportional constant requires changing, its value may be increased or decreased in one percent, or any other suitable, intervals by an increment/decrement switch.
  • Systems, devices, or methods according to the present invention may include one or more of the features, structures, methods, or combinations thereof described herein.
  • a device or system may be implemented to include one or more of the advantageous features and/or processes described below.
  • a device or system according to the present invention may be implemented to include multiple features and/or aspects illustrated and/or discussed in separate examples and/or illustrations. It is intended that such a device or system need not include all of the features described herein, but may be implemented to include selected features that provide for useful structures, systems, and/or functionality.
  • the present invention generally relates to underground boring machines, such as HDD machines, and more particularly to a method and apparatus for controlling underground boring tools with an electro-hydraulic control system.
  • an operator can change the thrust pump output relative to the thrust input signal generated by the operator control device.
  • the thrust pump output is thereby scaled proportionally to an input signal, while simultaneously limiting the thrust output value to a predetermined maximum output. This allows for full scale movement of the input control device to equal differing thrust pump outputs. Accordingly, the operator can tailor the output to the appropriate conditions and/or minimize the impact of any dead zone inherent in the control and hydraulic system, among other benefits.
  • the operator of an underground boring machine can reduce the output thrust signal relative to the input thrust signal, re-set the maximum available output thrust level to the present thrust input signal, and rescale the output thrust signal proportionally to the input thrust signal, while simultaneously propelling the drill string at a rate to perform the drilling operation for the present soil conditions.
  • the reduced thrust pressure output signal may be adjusted up or down to control the drill's speed, and also re-set to any prior 'set' conditions or be canceled.
  • the invention is especially useful for changing the thrust output signal relative to the thrust input signal when the machine is used in drilling conditions in which controllability of the machine's thrust speed is required and/or very low output signals are required.
  • inherent dead bands exist in many electro-hydraulic control systems. Such bands limit the ability of the operator to move the drill string at a slow and controlled rate.
  • by increasing the scale of a lower input to a more nearly full scale movement while re-scaling the output signal to an appropriate maximum amount) the effects of operating in the dead band zone are reduced.
  • the input control and pump output relationship can be changed dynamically, such that the output range of a pump is reduced and rescaled relative to an input range of a user control while the pump is rotating or advancing a drill string without stopping or slowing the drill string rotation or advancement.
  • Such embodiments concern an HDD system having dynamically scalable control.
  • Such embodiments can include a drill pipe configured to attach to a boring tool, a user control having an input device moveable in position along an input range, the user control configured to output a control signal proportional to the position of the input device along the input range, a pump having an output range, the pump configured to move the drill pipe at various output levels over the output range based on the control signal, and a controller coupled to the user control and the pump, the controller configured to execute program instructions stored in memory to cause the HDD system to perform drilling operations in a first control setting in which the output range of the pump corresponds to the input range of the user control and changes in output of the pump are proportional to positional changes of the input device along the input range, and perform drilling operations in a second control setting in which the output range of the pump is limited by a output limit and changes in output of the pump are proportionally scaled to positional changes of the input device along the input range.
  • the output limit in the second control setting may be based on a level of the control signal corresponding to an output level of the pump in the first control setting when a switch was toggled.
  • the level of the control signal may be maintained for a period of time after the switch is toggled in order to set the output limit at that level.
  • the output limit may further be based on an output constant amount, which in some embodiments is added to the output level when the switch is toggled.
  • the HDD system can dynamically transition operation of the HDD system from the second control setting back to the first control setting without an interruption in drill pipe movement associated with a decrease in output of the pump when the input device is positioned in a neutral position of the input range when in the second control setting and a switch is toggled.
  • the HDD system may calibrate the full output range of the pump to the full input range of the user control in the first control setting.
  • the output range of the pump limited by the output limit in the second control setting may proportionally correspond to the full input range of the user control.
  • Some embodiments may calibrate the full output range of the pump to the full input range of the user control in the first control setting, wherein the output range of the pump limited by the output limit in the second control setting proportionally corresponds to the full input range of the user control.
  • Some embodiments may rescale the output range of the pump limited by the output limit to the full input range of the user control when the input device is positioned in a neutral position of the input range when in the second control setting.
  • Some embodiments may change the output limit in response to a user input and then rescale the output range of the pump limited by the adjusted output limit to the full input range of the user control when in the second control setting.
  • the pump is configured to rotate the drill pipe at various output levels over the output range based on the control signal and the output limit corresponds to one or both of a rotation rate limit and a hydraulic fluid pump pressure limit. In other embodiments, the pump is configured to linearly advance the drill pipe at various output levels over the output range based on the control signal and the output limit corresponds to one or both of an advancement speed limit and a hydraulic fluid pump pressure limit.
  • program instructions stored in memory may be executed by a processor to cause a HDD system to perform the stated processes.
  • a horizontal directional drilling machine 20, illustrated in Figure 1 includes a frame 22 on which is mounted a rotational drive mechanism 30 that is slidably moved along a longitudinal axis of the frame 22.
  • horizontal directional drilling machine 20 includes a rear stabilizer 26 and front stabilizer 27 for positioning and stabilizing the machine 20 at the drilling site, and a wheel assembly 24 for supporting the machine during transport between job sites.
  • a drill string 18 comprises a boring tool 42 designed to engage the soil and one or more drilling rods 38 that transmit forces from machine 20 to the boring tool 42.
  • the rotational drive mechanism 30 typically includes a gearbox and a drive spindle that rotates the drill string 18 about its longitudinal axis, the rotational power being preferably provided by hydraulic motor 216.
  • the horizontal directional drilling machine 20 also includes a thrust drive mechanism 28 that typically includes gears or sprockets to move the drive mechanism 28 up and down the frame 22 to advance the drill sting 18 into, or withdraw it from, the soil.
  • the thrust power is preferably provided by hydraulic motor 217.
  • an engine 36 drives hydraulic pumps 16 and 17, which pressurize fluid that is transferred to hydraulic motors 216 and 217.
  • the hydraulic systems can be either open loop where the fluid is transferred from a hydraulic reservoir 14 through the pumps to the motors 216, 217 and back to the reservoir 14, or they can be hydrostatic where the fluid is substantially in a closed loop -- being transferred between the pump and the motor.
  • the pumps 16, 17 and motors 216, 217 are matched, such that by controlling the flow rate of the hydraulic fluid, the speed of rotation of the output shafts of the motors is controlled and can be inferred.
  • the pumps are typically variable displacement pumps capable of producing variable output flow rates, proportional to an electrical current provided by a control system. The output speed of the pumps is proportional to the output flow rates.
  • Other embodiments are possible, for instance wherein rotational and thrust drive mechanisms could be actuated by different hydraulic drives (e.g. such as hydraulic cylinders).
  • Some embodiments may also include a water flow mechanism that transmits water through the drill string 18 to the vicinity of the boring tool 42, where the water flow entrains cut soil particles and removes them from the hole.
  • the horizontal directional drilling machine 20 may also include a greaser for lubricating various moving components (not shown).
  • Figure 2 illustrates an exemplary operator control station 100 for a horizontal directional drilling machine 20.
  • Operator control station 100 includes rotational control 110 and thrust control 130 that provide inputs to a controller 150.
  • controls 110 and 130 are usable.
  • each of controls 110 and 130 comprise a control lever.
  • control levers 110, 130 each produce an electrical signal that is proportional to the position of the control lever relative to a center position. The electrical signal is provided as an input to a controller 150.
  • the electrical signal that is generated corresponds to increased rotational torque (and/or rate of rotational movement) or axial thrust force (and/or rate of axial movement), respectively.
  • the generated electrical signal corresponds to decreased rotational torque (and/or rate of rotational movement) or axial thrust force (and/or rate of axial movement), respectively.
  • the generated electrical signal corresponds to counterclockwise rotational movement of the drill string, as viewed looking at the end of the drill string.
  • control lever 110 when the control lever 110 is moved in the backwards direction, toward the operator, the electrical signal that is generated corresponds to the opposite direction, clockwise rotational movement.
  • control lever 130 when control lever 130 is moved forward, away from the operator, the electrical signal that is generated corresponds to forward movement of the drill string into the soil.
  • control lever 130 when control lever 130 is moved in the backwards direction, toward the operator, the electrical signal that is generated corresponds to backwards movement of the drill string back toward the machine.
  • control lever 110, 130 When either of control lever 110, 130 is in the center position, the electrical signal that is generated corresponds to a neutral condition where the rotational or thrust movement respectively is set to zero.
  • a spring or other biasing mechanism is provided to return each of the control levers to the center position, so that if an operator does not hold the lever, it returns to its centered, neutral position such that the rotational or thrust motion settings are set to zero.
  • the controller 150 generates outputs, in response to various inputs, to control the hydraulic system.
  • the system includes the hydraulic pumps 16 and 17 of the drilling machine 20.
  • the hydraulic motors 216, 217 are driven by the hydraulic fluid in a known manner to create rotational and thrust movement of the boring tool 42 and drill string 18.
  • this control is typically a variable electrical current, wherein a certain electrical current will cause the pump to create a certain hydraulic flow rate.
  • the output shaft of the motor thereby rotates at a certain speed of rotation. This is typically independent of the pressure in the fluid.
  • the control systems are typically designed to provide speed control that is independent of load.
  • the control systems typically further include pressure transducers 226 and 227 that provide feedback to the control system indicating the pressure in the circuits; and can further include speed sensors 236 and 237 for measuring the output speed of the motors.
  • the circuitry represented in Figure 2 can be used to perform the various methodologies and techniques discussed herein.
  • the circuitry can include memory comprising a computer readable medium encoded with a computer program, software, firmware, computer executable instructions, instructions capable of being executed by a computer, etc. to be executed by circuitry, such as control processor 150.
  • memory can be a computer readable medium storing a computer program, execution of the computer program by control processor 150 causing the moving of a drill string using a pump operating at an output level of an output range, the output level corresponding to a position of an input control along an input range in a first control setting, changing the output level of the pump in the first control setting, wherein changes in the output level of the pump in the first control setting are proportional to positional changes in the input control along the input range, transitioning from the first control setting to a second control setting while maintaining at least some motion of the drill string, determining an output limit of the output range of the pump, moving the drill string using the pump in the second control setting, the output range of the pump limited by the output limit in the second control setting, and changing the output level of the pump in the second control setting, wherein changes in the output level of the pump within the output range in the second control setting are proportionally scaled to positional changes in the input control along the input range.
  • the other methods and techniques discussed herein can be performed using the circuit
  • Various embodiments may further include identifying a desired change in output of the pump while in the first control setting, detecting that the desired change in pump output is too small to be effected by a positional change of the input control along the input range in the first control setting, transitioning from the first control setting to the second control setting to increase sensitivity between the input control and pump output, and making the desired change in pump output using the second control setting.
  • the output limit in the second control setting is based on the level of pump output corresponding to the position of the input control along the input range when a switch is toggled in the first control setting.
  • the output limit in the second control setting is based on the level of pump output corresponding to the position of the input control along the input range that was maintained for a period of time after a switch was toggled in the first control setting.
  • a output limit may also be based on an output constant amount.
  • Various embodiments may include calibrating the full output range of the pump to the full input range of the input control in the first control setting, wherein the output range of the pump limited by the output limit in the second control setting proportionally corresponds to the full input range of the user control.
  • Various embodiments may include proportionally rescaling the output range of the pump limited by the output limit to the full input range of the user control when the input control is positioned in a neutral position of the input range when in the second control setting.
  • Various embodiments may include changing the output limit in response to a user input and then rescaling the output range of the pump limited by the adjusted output limit to the full input range of the input control when in the second control setting.
  • moving the drill string using the pump in the first and second control settings further comprises rotating the drill using a hydraulic fluid rotation pump corresponding to the pump, wherein changing the output level of the pump in the first and second control settings further comprises changing one or both of a rotation rate and hydraulic fluid pressure of the hydraulic fluid rotation pump, and wherein the output limit is one or both of a maximum rotation rate and a maximum hydraulic fluid pressure of the hydraulic fluid rotation pump.
  • moving the drill string using the pump in the first and second control settings further comprises linearly advancing the drill string using a hydraulic fluid thrust pump corresponding to the pump, wherein changing the output level of the pump in the first and second control settings further comprises changing one or both of an advancement speed and hydraulic fluid pressure of the hydraulic fluid thrust pump, and wherein the output limit is one or both of a maximum advancement speed and a maximum hydraulic fluid pressure of the hydraulic fluid thrust pump.
  • Figure 3 illustrates the rotational movement control 110 in more detail, showing the various control switches that are mounted on the control.
  • Figure 4 illustrates a sign that indicates the functions of each of these switches to the operator.
  • Control 110 includes switches 112, 118, 120, and 122, each of which generates an electrical signal when actuated, such as by being pressed.
  • Control switch 112 may be called a SET switch.
  • SET switch 112 When SET switch 112 is actuated, an electrical signal is sent to controller 150 activating an automatic boring mode (also called auto boring mode).
  • controller 150 receives a signal from SET switch 112, the rotational movement and thrust movement parameters are set within the controller to the values established by the positions of controls 110, 130 at the time that the SET switch 112 is actuated.
  • the preferred technique includes setting a value for the speed of rotation, while setting a value for the pressure in the axial thrust circuit, as will be explained in more detail later. Thereafter, controller 150 automatically maintains the boring parameters of rotational movement and thrust movement at the set values without further input from the operator. The operator then may release control levers 110, 130 without affecting the boring operation, thereby reducing operator fatigue. It will be appreciated that the auto boring mode may also be turned off by actuating the SET switch 112 when the system is currently activated.
  • rotational movement control 110 also includes control switches 114 and 116 which control the water flow functions for injecting water into a bored hole to remove cuttings from the hole.
  • Rotational movement control 110 also includes control switches 118 and 120 to control the speed of the engine 36, and control switch 122 to control a greaser (not shown).
  • Figure 6 illustrates a display 170 for the control system that includes a light 172 that is energized when an auto boring mode is active. This light 172 is energized after the SET switch 112 is activated and a rotation setting and a thrust setting are defined, so as to enter the auto boring mode. Light 172 is deactivated if the auto boring mode is not active.
  • Figure 5 illustrates additional control switches on the right side of the operator control station 100.
  • control station 100 includes switches 140, 142 that are in electrical communication with controller 150.
  • Switch 140 has a neutral position, a first operative position, and a second operative position.
  • switch 140 is spring-loaded to the neutral position, so that when the switch is placed in either the first or second operative positions and then released, switch 140 will return to the neutral position.
  • switch 140 When switch 140 is in the neutral position, switch 140 has no effect on the boring operation.
  • switch 140 is placed in the first operative position, such as where switch 140 is rotated clockwise away from the neutral position, and when the auto bore mode is activated, an electrical signal is sent to controller 150 to increase the rotational movement setting by a predefined increment.
  • switch 140 when switch 140 is placed in the second operative position, such as where switch 140 is rotated counterclockwise away from the neutral position, and when the auto bore mode is activated, an electrical signal is sent to controller 150 to decrease the rotational movement setting by a predefined decrement.
  • switch 142 has a neutral position, a first operative position, and a second operative position.
  • switch 142 is spring-loaded to the neutral position, so that when the switch is placed in either the first or second operative positions and then released, switch 142 will return to the neutral position.
  • switch 142 When switch 142 is in the neutral position, switch 142 has no effect on the boring operation.
  • switch 142 When switch 142 is placed in the first operative position, such as where switch 142 is rotated clockwise away from the neutral position, and when the auto bore mode is activated, an electrical signal is sent to controller 150 to increase the axial thrust pressure setting by a predefined increment.
  • switch 142 when switch 142 is placed in the second operative position, such as where switch 142 is rotated counterclockwise away from the neutral position, and when the auto bore mode is activated, an electrical signal is sent to controller 150 to decrease the axial thrust pressure setting by a predefined decrement.
  • the system then acts to maintain rotation of the drill string at the selected speed of rotation, independent of the rotational pressure setting and axial pressure setting, and will automatically vary the axial thrust speed as necessary to attempt to maintain the selected pressure in the rotation circuit, or to maintain a set amount of force at the boring tool.
  • maintaining a constant force on the drill bit will result in a constant/consistent torque on the drill bit, and will maximize drilling efficiency.
  • this same control technique is also effective.
  • the machine 20 may be configured so that when the auto boring mode is activated, as indicated by light 172, any further motion of controls 110, 130 sends an electrical signal to controller 150 that causes controller 150 to interrupt the auto boring mode.
  • the machine 20 may be configured so that when the auto boring mode is activated, actuating switch 112 sends an electrical signal to controller 150 that causes controller 150 to interrupt the auto boring mode.
  • other switches or controls may be provided or adapted so as to provide an electrical signal to the controller 150 to interrupt the auto boring mode.
  • One example is a control function related to breaking the connection between the drive chuck of the rotational drive 30 and the drill string.
  • the rotational drive When a drill rod has been completed inserted, and the rotational drive is at the end of the frame 22, then the rotational drive must be unthreaded from the drill string and moved back to the opposite end of the frame so that another drill rod can be added. This action is required when the rotational drive is located at certain positions along the frame, for instance at the extreme opposite ends.
  • an interrupt signal can be provided automatically by a sensor that measures the position of the rotational drive. When the interrupt signal is received it may also automatically cancel other functions such as the water flow.
  • the operator control station 100 also includes switch 144 that is in electrical communication with controller 150.
  • Switch 144 may also be called a RESUME switch.
  • the operator may actuate switch 144 to resume the auto boring mode.
  • Switch 144 then sends an electrical signal to controller 150 that causes controller 150 to resume the auto boring mode at the same settings as existed prior to the auto boring mode being interrupted.
  • the resume process of the present invention initiates drilling operation in a manner that minimizes unnecessary vibration and stress in the drill string and drilling tool.
  • Figures 7 and 8 illustrate one usable embodiment of the resume process.
  • the resume process begins (at time equal to 0 seconds) when the switch 144 is depressed to initiate the resume process, sending an electrical signal to the controller 150.
  • the controller 150 will activate the rotational drive mechanism so as to bring the boring tool to the set value of rotational movement, the set rate of rotation.
  • the water flow is automatically restarted.
  • the resumption of rotational movement occurs rather quickly, usually in about one second.
  • controller 150 does not activate the thrust drive mechanism.
  • the boring tool will resume rotation to the set rate of rotation while there is little or no longitudinal thrust loading or movement.
  • This operation is advantageous because it produces a smooth rotational acceleration without shock loading of the boring tool and drill string.
  • the controller 150 After the rotational movement setting is attained, approximately one second after the rotation is started, the controller 150 then beings to apply thrust force to the drill string. However, rather than rapidly increasing the thrust force to the set value, the thrust force is increased from zero to the set value, the set axial thrust, at a predetermined rate. In one usable embodiment, the thrust force is applied at a first constant rate of 25% of the set axial thrust force setting per second for three seconds, from the time of one second after the resume process is initiated to the time of four seconds after the resume process is initiated. Thus, having increased by 25% of the thrust force setting for three (3) seconds, the amount of thrust force applied at this point will be 75% of the thrust force setting. The thrust force is then applied at a second constant rate of 12.5% per second for two seconds.
  • the thrust force is increased from 75% of the set value to 100% of the set value.
  • the boring tool will be operating both at the set rate of rotation and the set axial thrust.
  • An alternative embodiment includes increasing the axial thrust force at a single predetermined rate, such as 25% of the set axial thrust force per second for four (4) seconds. It will be appreciated that other rates may also be used, and that the rates provided herein are presented as preferred embodiments, and not as limitations.
  • HDD is further disclosed in U.S. Patent No. 6,766,253 , U.S. Patent No. 6,367,564 , U.S. Patent No. 6,389,360 , U.S. Patent No. 5,556,253 , U.S. Patent No. 6,554,082 , and U.S. Provisional Application No. 60/927,567 filed May 3,2007 .
  • Some electronic control systems receive input signals as a voltage proportional to the displacement of the input devices.
  • the controller converts the voltage to a percentage.
  • an input device such as a joystick (best seen in Fig. 2 as joystick 130)
  • the controller 150 would convert the input signal (voltage) to the percentage value of 100%.
  • the controller 150 would convert the input signal (voltage) to a value of -100%. Any intermediate position of the input control would be converted to a fractional percentage.
  • Thrust Output Signal % Thrust Input Signal %
  • the present invention provides a method for changing the relationship between the output and the input signals.
  • the changed limit on the output signal may be considered a manually determined governor setting on the output signal, with such manual governor setting allowing the maximum allowable limit for the output signal to be changed to a value other than 100%.
  • the SET switch 112 described above in connection with the HDD machine 20 may be used.
  • the SET switch 112 enabling an auto-drill function (described above)
  • the SET switch 112 may also enable the manual governor function. It will be appreciated, however, that other switches, buttons, keys and other operator activated devices may be utilized to enable the governor function.
  • the thrust constant can be arbitrarily set to zero. If the input signal was 50%, when the SET switch 112 is depressed and held for a pre-determined length of time, the manual governor limit would be reduced from 100% to 50%. Regardless of the position of the control input handle position, the maximum thrust output would be limited, or "governed" to the 50% value. Setting the thrust constant greater than zero increases the manual governor limit slightly.
  • Thrust Ouptut Input Device % X Manual Governor Limit % 100 %
  • a preferred environment in which the present invention may be employed is in an electro-hydraulic control system of an HDD, trenching or other ground boring machine.
  • an electronic controller receives input signals from input devices such as pressure transducers and operator controlled joysticks.
  • a controller uses the input devices to provide electronic signals to output devices such as thrust and rotation hydraulic pumps or valves.
  • the rotation joystick 110 and thrust joystick 130 are used to set the desired drilling parameters.
  • the set button 112 may be used to enable the setting of the manual governor limit. More specifically, the SET button 112 is depressed and held for two seconds while maintaining at least one joystick 110 and 130 within a predetermined error range. In one embodiment, the predetermined error range (approximately 5%) requires the thrust input device 130 to be held reasonably constant over the two second period.
  • the maximum output for the thrust pump (normally 100%) is re-set to be equal to the input thrust signal value plus a thrust constant.
  • This new maximum thrust output pump signal acts as a governor.
  • any additional increase in thrust input signal will only allow for an increase in thrust pump output signal equal to the governor setting.
  • the controller 150 rescales the thrust output signal to be equal to: future instantaneous thrust input signal % ⁇ X times the newly set manual governor limit % / 100 % .
  • the logical flow may be implemented with controller 150 or some other on-board computer, cpu or special programmed device.
  • the logical flow is shown generally at 900.
  • the process starts at 901 where the thrust/pull back handle or joystick 130 is in the neutral position.
  • the operator may move the thrust/pull back handle 130 to obtain the desired thrust/pull back output percent.
  • the thrust output signal is proportional to the thrust input signal. This use may correspond to a normal or default use of the equipment.
  • the process moves to block 904 where it is determined whether the operator moved the thrust/pull back handle 130 more than a predetermined amount during the hold time. If the answer is yes at block 905, then the process returns to block 901. However, if it was not moved more than a predetermined amount, the process moves to block 906. Proceeding to block 907 a new manual governor limit is set to the value of the thrust pull back handle percent plus a second constant percent value. This corresponds to equation 2 above. Proceeding to block 908 and then 909, the thrust/pull back output percent is now scaled to be from 0 up to the manual governor percentage. This is the amount that was set at step 907. The percentage is also proportional to the thrust/pull back handle input from 0 to 100%. This corresponds to equation 3 described above.
  • an embodiment of the present invention also provides for optionally providing the ability to increase/decrease the manual governor setting by selecting increase or decrease switches, buttons or other operator selected devices. If these are requested at block 911, then the process moves to block 912 where the manual governor percentage is incremented or decremented as appropriate. If there is no request to increase or decrease the manual governor setting, then the process moves to block 913.
  • Figure 10 illustrates a timing sequence for setting manual limits.
  • the thrust output (identified as 184) begins at zero and the operator establishes a relatively steady state by time t 0 (it will be appreciated that human operators generally cannot maintain a perfect steady state in view of the boring conditions experienced by the HDD machine 20 and other factors).
  • the SET button 112 is depressed starting a two second period.
  • the point 183 establishes a level about which the processor 150 determines whether the joystick 130 has been moved more than a certain maximum amount.
  • the maximum amounts are designated 185.
  • a certain predetermined amount of time exceeding the maximum amount may be allowed. This area is noted by the shaded areas, with one such area identified as 190.
  • t 1 identified by the designation 181 and t 2 identified by the designation 182 correspond to one and two seconds, respectively.
  • the maximum output thrust is changed from 100% identified by the designation 186 to a new maximum level identified by the designation 186M.
  • the thrust output continues but is limited by the new maximum setting (shown by the dotted line).
  • the limit is returned to the original maximum.
  • a HDD system with dynamic scalable controls comprising: means for moving a drill string using a pump operating at an output level of an output range, the output level corresponding to a position of an input control along an input range in a first control setting; means for changing the output level of the pump in the first control setting, wherein changes in the output level of the pump in the first control setting are proportional to positional changes in the input control along the input range; means for transitioning from the first control setting to a second control setting while maintaining at least some motion of the drill string; means for determining an output limit of the output range of the pump; means for moving the drill string using the pump in the second control setting, the output range of the pump limited by the output limit in the second control setting; and means for changing the output level of the pump in the second control setting, wherein changes in the output level of the pump within the output range in the second control setting are proportionally scaled to positional changes in the input control along the input range.

Landscapes

  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control Of Turbines (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
EP08754183A 2007-05-03 2008-05-02 Method and apparatus for establishing a manual governor control setting in an electro-hydraulic system Not-in-force EP2153009B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US92774607P 2007-05-03 2007-05-03
PCT/US2008/005637 WO2008137042A1 (en) 2007-05-03 2008-05-02 Method and apparatus for establishing a manual governor control setting in an electro-hydraulic system

Publications (2)

Publication Number Publication Date
EP2153009A1 EP2153009A1 (en) 2010-02-17
EP2153009B1 true EP2153009B1 (en) 2011-10-19

Family

ID=39677665

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08754183A Not-in-force EP2153009B1 (en) 2007-05-03 2008-05-02 Method and apparatus for establishing a manual governor control setting in an electro-hydraulic system

Country Status (8)

Country Link
US (1) US20100139982A1 (ru)
EP (1) EP2153009B1 (ru)
CN (1) CN101755103B (ru)
AT (1) ATE529604T1 (ru)
AU (1) AU2008248216B2 (ru)
BR (1) BRPI0809895A2 (ru)
RU (1) RU2426871C1 (ru)
WO (1) WO2008137042A1 (ru)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102094580A (zh) * 2009-12-10 2011-06-15 北京中煤矿山工程有限公司 煤炭工程孔定向钻进方法
US9127510B2 (en) * 2012-10-12 2015-09-08 Vermeer Manufacturing Company Dual drive directional drilling system
CN108678657B (zh) * 2018-08-09 2023-12-15 徐州徐工基础工程机械有限公司 动力头控制系统及钻机
US20200102791A1 (en) 2018-09-28 2020-04-02 The Toro Company Underground drill
CN110685662B (zh) * 2019-09-30 2023-12-22 江苏谷登重型机械科技股份有限公司 一种水平定向钻机的控制方法
WO2021146389A1 (en) * 2020-01-14 2021-07-22 Yuriy Khapochkin Accomodating pitch instability in horizontal directional drilling
CN112682024B (zh) * 2021-02-01 2022-02-18 地晨环境技术(南京)有限公司 一种环保钻机用电气比例手柄校正方法
WO2023043977A1 (en) 2021-09-16 2023-03-23 Vermeer Manufacturing Company Horizontal directional drill with freewheel mode
US12110753B2 (en) 2022-03-28 2024-10-08 Vermeer Manufacturing Company Horizontal directional drill with freewheel mode
CN117684869A (zh) * 2023-11-22 2024-03-12 中煤科工西安研究院(集团)有限公司 一种水平大直径跟管救援钻机钻具运移加卸系统及使用方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989008200A1 (en) * 1988-03-03 1989-09-08 Hitachi Construction Machinery Co., Ltd. Method and apparatus for driving hydraulic machine
US5746278A (en) * 1996-03-13 1998-05-05 Vermeer Manufacturing Company Apparatus and method for controlling an underground boring machine
JP3868112B2 (ja) * 1998-05-22 2007-01-17 株式会社小松製作所 油圧駆動機械の制御装置
US6308787B1 (en) * 1999-09-24 2001-10-30 Vermeer Manufacturing Company Real-time control system and method for controlling an underground boring machine
WO2001051760A2 (en) * 2000-01-12 2001-07-19 The Charles Machine Works, Inc. System for automatically drilling and backreaming boreholes
AU2001273549A1 (en) * 2000-07-18 2002-01-30 Geoff D. Koch Remote control for a drilling machine
CN1292144C (zh) * 2002-11-25 2006-12-27 徐州华东石油机械厂 水平螺旋钻机钻头控向装置

Also Published As

Publication number Publication date
US20100139982A1 (en) 2010-06-10
AU2008248216B2 (en) 2011-07-21
EP2153009A1 (en) 2010-02-17
AU2008248216A1 (en) 2008-11-13
CN101755103A (zh) 2010-06-23
RU2426871C1 (ru) 2011-08-20
CN101755103B (zh) 2013-06-05
WO2008137042A1 (en) 2008-11-13
BRPI0809895A2 (pt) 2014-10-07
ATE529604T1 (de) 2011-11-15
RU2009144797A (ru) 2011-06-10

Similar Documents

Publication Publication Date Title
EP2153009B1 (en) Method and apparatus for establishing a manual governor control setting in an electro-hydraulic system
US7721821B2 (en) Underground boring machine and method for controlling underground boring
EP2153010B1 (en) Constant-mode auto-drill with pressure derivative control
EP2273013B1 (en) Method of control of the boom depth of a trencher
US6289997B1 (en) Apparatus and method for controlling an underground boring machine
AU775632B2 (en) Method and device of controlling a rock drilling machine
US7413031B2 (en) Apparatus and method for maintaining control of a drilling machine
EP2889173B1 (en) Vehicle
US5913371A (en) Apparatus for controlling the feed drive of a boring mechanism for making earth bores
JP5393490B2 (ja) 削岩機の制御方法及び装置並びに削岩機
JP2007303584A (ja) 油圧制御装置
JP7543224B2 (ja) ボーリング装置
KR102008022B1 (ko) 굴삭기의 옵션 작업장치 제어방법
JPH11173056A (ja) ケーシングドライバの掘削制御方法、掘削制御装置、周面摩擦トルク測定方法及び周面摩擦トルク測定装置
JP2003055967A (ja) 鋼管杭の貫入工法
JPH11173055A (ja) ケーシングドライバの掘削制御方法、掘削制御装置及び自沈荷重測定方法
JP2001342796A (ja) 地中せん孔方法及び地中せん孔装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20091203

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL BA MK RS

RIN1 Information on inventor provided before grant (corrected)

Inventor name: CARLSON, ROBIN, W.,C/O VERMEER MANUFACTURING COMPA

Inventor name: LANE, PHILIP, R.,C/O VERMEER MANUFACTURING COMPANY

DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: RENTSCH PARTNER AG

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602008010609

Country of ref document: DE

Effective date: 20111215

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20111019

LTIE Lt: invalidation of european patent or patent extension

Effective date: 20111019

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 529604

Country of ref document: AT

Kind code of ref document: T

Effective date: 20111019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120119

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120219

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: BE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120220

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120120

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120119

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

26N No opposition filed

Effective date: 20120720

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602008010609

Country of ref document: DE

Effective date: 20120720

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120531

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20120502

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20130131

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120531

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20120130

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120502

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120502

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20111019

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20120502

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080502

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20141125

Year of fee payment: 7

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150531

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150531

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20160524

Year of fee payment: 9

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602008010609

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20171201